Intelligent form monitoring sonar device and system for underwater net bag

Abstract

The invention relates to the technical field of underwater detection and monitoring, and discloses an intelligent form monitoring sonar device and system for an underwater net bag, and the device comprises a data collection module, a signal processing module, a state judgment module, a communication transmission module, and a regulation and control module. Morphological and biological behavior data are collected through a sonar sensor unit arranged on a net bag framework, parameters such as width variation and posture offset are generated, and the working mode is adjusted in a self-adaptive mode in combination with environment information. And when an abnormal state is detected, triggering a cleaning, flow reduction or alarm instruction. According to the invention, the form change and the internal biological distribution of the net bag can be monitored in real time, an intelligent regulation and control means is provided, the technical problem of lack of comprehensive monitoring in a complex underwater environment is solved, and the working efficiency and reliability of the underwater net bag are improved.

Description

Technical Field

[0001] This invention relates to the field of underwater detection and monitoring technology, specifically to an intelligent morphological monitoring sonar device and system for underwater nets. Background Technology

[0002] With the increasing demand for underwater monitoring, underwater nets have been widely used in marine resource development and environmental protection as important fishing and monitoring tools. Underwater nets are typically made of flexible materials, and their shape is easily affected by factors such as water flow, biological activity, and debris accumulation; simultaneously, the behavior and distribution of internal organisms have a significant impact on monitoring results. In existing technologies, sonar devices are often used to detect underwater targets, but these are mostly focused on single-target location or distance measurement; for example, patent publication number CN1234567 relates to an underwater detection device. However, real-time monitoring of the morphological changes and internal biological behavior of underwater nets remains insufficient, especially in complex underwater environments, where it is difficult to comprehensively obtain information on the net's morphological parameters and biomass distribution. Furthermore, existing monitoring systems lack intelligent control mechanisms when dealing with abnormal conditions such as damage, debris accumulation, or strong water flow impacts, which to some extent limits the efficiency and reliability of underwater nets. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent morphological monitoring sonar system and device for underwater nets, which aims to solve the problem of the lack of real-time monitoring means for morphological changes and internal biological behavior of underwater nets in the prior art, and to overcome the technical shortcomings of the difficulty in comprehensively obtaining morphological parameters and biomass distribution information of nets in complex underwater environments.

[0004] The present invention is implemented as follows: On one hand, an intelligent morphological monitoring sonar system for underwater nets includes: The data acquisition module is used to collect net morphology data and internal biological behavior data through multiple sonar sensor units arranged on the net frame; the sonar sensor units operate at a frequency of 200kHz or 400kHz, a detection angle of 10° or 30°, and a maximum detection distance of 0.3m to 100m. The signal processing module is used to filter and extract features from the acquired data to generate net morphology parameters and biomass distribution parameters. The net morphology parameters include width variation and attitude offset, and the biomass distribution parameters include the number and density distribution of biological targets. The status judgment module is used to determine whether there is an abnormal state of the net based on the net shape parameters. The abnormal state includes net damage, excessive garbage accumulation, or excessive water flow speed. When the width change exceeds a preset threshold, it is determined that the net is damaged. When the posture offset exceeds a first preset range and the width change is less than a second preset range, it is determined that there is excessive garbage accumulation. When the posture offset exceeds a first preset range and the width change is greater than a second preset range, it is determined that the water flow speed is too fast. The communication transmission module is used to transmit the net morphology parameters and biomass distribution parameters to the user terminal via a 60kHz communication frequency, and the communication depth range supports 0 to 100m. The control module is used to adjust the working mode of the net bag based on the received status judgment results; when it is determined that there is too much garbage accumulation, a cleaning command is initiated; when it is determined that the water flow speed is too fast, a flow reduction command is initiated; when it is determined that the net bag is damaged, an alarm command is initiated.

[0005] As a further aspect of the present invention, the data acquisition module specifically includes: A sonar transmitting unit is used to transmit acoustic signals into the inside and surrounding area of ​​the net; the acoustic signals alternately switch frequencies of 200kHz and 400kHz at fixed time intervals. A sonar receiving unit is used to receive reflected sound wave signals and convert the sound wave signals into electrical signals; the sensitivity range of the sonar receiving unit is -90dB to -50dB. A data storage unit is used to store the converted electrical signal as raw data; the raw data is marked according to timestamps and spatial locations.

[0006] As a further embodiment of the present invention, the signal processing module specifically includes: The filtering unit is used to perform bandpass filtering on the raw data to remove noise interference; the frequency range of the bandpass filter is 180kHz to 420kHz. The feature extraction unit is used to extract the geometric features of the net skeleton and the motion features of the biological target from the filtered data; the geometric features include the relative distance and angle changes between skeleton nodes, and the motion features include the moving speed and trajectory of the biological target; The data fusion unit is used to fuse the extracted geometric and motion features to generate comprehensive parameters; the comprehensive parameters include the overall morphological change trend of the net and the spatial distribution density of biological targets.

[0007] As a further aspect of the present invention, an adaptive adjustment module is also included, wherein the adaptive adjustment module specifically includes: An environmental sensing unit is used to acquire water depth and flow velocity information of the environment in which the net is located through built-in pressure and flow velocity sensors; the pressure sensor has a measurement range of 0 to 100 m, and the flow velocity sensor has a measurement range of 0 to 5 m / s. The adjustment strategy unit is used to adjust the operating parameters of the sonar sensor unit according to the water depth and flow velocity information; when the water depth exceeds 50m, the operating frequency of the sonar sensor unit is switched to 400kHz; when the flow velocity exceeds 3m / s, the transmission interval of the sound wave signal is shortened to half of the default interval.

[0008] As a further aspect of the present invention, the control module specifically includes: The cleaning execution unit is used to activate a mechanical cleaning device connected to the net bag or send a manual cleaning message to the user terminal when it is determined that there is too much garbage accumulation; the mechanical cleaning device moves along the net bag frame to remove the accumulated material; the movement path of the mechanical cleaning device is determined by the garbage distribution density detected by the sonar sensor unit. The flow reduction unit is used to activate a flow baffle device connected to the net when the water flow velocity is determined to be too fast; the flow baffle device reduces the water flow impact force by changing the direction of the net opening; the angle adjustment range of the flow baffle device is 0° to 90°. An alarm execution unit is used to send alarm information to the user terminal when the net is determined to be damaged; the alarm information includes the location of the damage and the expected range of impact; the location of the damage is determined by anomalies in the width change detected by the sonar sensor unit.

[0009] As a further aspect of the present invention, the communication transmission module specifically includes: The signal modulation unit is used to modulate the net morphology parameters and biomass distribution parameters using orthogonal frequency division multiplexing (OFDM) technology; the modulated signal occupies a bandwidth of 50 kHz to 70 kHz. A signal amplification unit is used to amplify the power of the modulated signal; the amplification factor is 10dB to 20dB. The antenna transmitting unit is used to transmit the amplified signal to the user terminal through a dedicated underwater antenna; the gain range of the antenna is 5dBi to 10dBi.

[0010] As a further embodiment of the present invention, in the state judgment module, the preset threshold for the width change is 10% to 20% of the normal width of the net, the first preset range for the attitude offset is 0° to 15°, and the second preset range for the width change is 5% to 10% of the normal width of the net.

[0011] As a further aspect of the present invention, the sonar sensor units are arranged at a spacing of 0.5m to 1m on the net frame, and the detection ranges of adjacent sonar sensor units at least partially overlap to achieve coverage without blind spots.

[0012] As a further aspect of the present invention, an underwater net monitoring device for installing the above-mentioned intelligent morphology monitoring sonar system includes: The monitoring body is a sealed shell, which integrates a data acquisition module, a signal processing module, and a communication transmission module. The monitoring body is installed at key nodes of the rope-type frame via a threaded connection. The key nodes include the net apex, the frame intersection, and the stress concentration point. A flexible net bag, attached below the monitoring body, is used to hold the object to be monitored; A rope-like skeleton is woven into the support structure of the net to form a deformable mesh; the rope-like skeleton is made of high-strength fiber material and has tensile and deformation resistance. The monitoring unit has a built-in sonar sensor unit that can detect the distribution and deformation of objects inside the net in real time by emitting / receiving sound waves.

[0013] The intelligent morphological monitoring sonar system and device for underwater nets provided in this invention collects morphological data and internal biological behavior data of the net through multiple sonar sensor units arranged on the net frame, and generates net morphological parameters and biomass distribution parameters in combination with a signal processing module. When an abnormal state of the net is detected, such as the width change exceeding a preset threshold or the attitude deviation exceeding a first preset range, corresponding control commands are triggered based on specific judgment conditions. For example, when too much debris accumulates, a mechanical cleaning device moves along the net frame to remove the debris; when the water flow velocity is too fast, a flow deflector device reduces the impact force of the water flow by changing the direction of the net opening; when the net is damaged, an alarm message is sent to the user terminal through a communication transmission module. The entire system, through the coordinated operation of multiple modules, solves the problem of the inability to monitor changes in net morphology and internal biological behavior in real time in the prior art, provides intelligent control methods, and improves the working efficiency and reliability of underwater nets. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the underwater net monitoring device of the present invention; Figure 2 This is a schematic diagram of the mounting base of the present invention; Figure 3 This is a block diagram of the overall architecture of the system in an embodiment of the present invention; Figure 4 This is a flowchart illustrating the operation of the control module in an embodiment of the present invention. Figure 5This is a block diagram of the internal structure of the signal processing module in an embodiment of the present invention; Figure 6 This is a block diagram of the internal structure of the communication transmission module in an embodiment of the present invention; Figure 7 This is a block diagram of the internal structure of the adaptive adjustment module in an embodiment of the present invention; Figure 8 This is a schematic diagram of the arrangement of the sonar sensor unit in an embodiment of the present invention.

[0015] Among them, 1. Monitoring body; 2. Flexible net; 3. Deformable rope frame. Detailed Implementation

[0016] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] This invention provides an intelligent morphological monitoring sonar system and device for underwater nets, which achieves real-time monitoring of morphological changes and internal biological behavior of underwater nets through the specific cooperation of multiple modules and units. The following is in conjunction with the appendix... Figure 1 To be continued Figure 8 The specific embodiments of the present invention are described in detail with reference numerals for each component in the accompanying drawings.

[0018] The intelligent morphological monitoring sonar system of the present invention includes a data acquisition module, a signal processing module, a status judgment module, a communication transmission module, and a control module. These modules are connected sequentially and transmit information through a data stream, forming a complete closed-loop monitoring and control system. The data acquisition module collects raw data through multiple sonar sensor units arranged on the net frame. The signal processing module filters and extracts features from the received data to generate net morphological parameters and biomass distribution parameters. The status judgment module determines whether there is an abnormal state of the net based on these parameters and triggers corresponding instructions. The communication transmission module sends the results to the user terminal. The control module adjusts the net's operating mode based on the received status judgment results.

[0019] The sonar sensor units are spaced 0.5m to 1m apart on the net frame, with the detection ranges of adjacent units at least partially overlapping to achieve blind-spot-free coverage. Each sonar sensor unit operates at a frequency of 200kHz or 400kHz, a detection angle of 10° or 30°, and a maximum detection distance of 0.3m to 100m. Each sonar sensor unit includes a sonar transmitting unit and a sonar receiving unit. The transmitting unit emits acoustic signals into the net and its surrounding area, alternating between 200kHz and 400kHz frequencies at fixed time intervals. The receiving unit receives the reflected acoustic signals and converts them into electrical signals, with a sensitivity range of -90dB to -50dB. The data storage unit stores the converted electrical signals as raw data and marks them with timestamps and spatial locations for subsequent processing.

[0020] The signal processing module further includes a filtering unit, a feature extraction unit, and a data fusion unit. The filtering unit performs bandpass filtering on the raw data to remove noise interference; the bandpass filtering frequency range is 180kHz to 420kHz. The feature extraction unit extracts the geometric features of the net skeleton and the motion features of the biological target from the filtered data. The geometric features include the relative distances and angular changes between skeleton nodes, and the motion features include the movement speed and trajectory of the biological target. The data fusion unit fuses the extracted geometric and motion features to generate comprehensive parameters, which include the overall morphological change trend of the net and the spatial distribution density of the biological target.

[0021] The status judgment module determines whether the net is in an abnormal state based on the net shape parameters generated by the signal processing module. Abnormal states include net damage, excessive garbage accumulation, or excessively fast water flow. Net damage is determined when the width change exceeds a preset threshold, which is 10% to 20% of the normal net width. Excessive garbage accumulation is determined when the attitude offset exceeds a first preset range and the width change is less than a second preset range; excessively fast water flow is determined when the attitude offset exceeds the first preset range and the width change is greater than the second preset range. The first preset range for attitude offset is 0° to 15°, and the second preset range for width change is 5% to 10% of the normal net width.

[0022] The communication transmission module includes a signal modulation unit, a signal amplification unit, and an antenna transmission unit. The signal modulation unit modulates the net morphology parameters and biomass distribution parameters using orthogonal frequency division multiplexing (OFDM), resulting in a modulated signal with a bandwidth of 50kHz to 70kHz. The signal amplification unit amplifies the modulated signal by 10dB to 20dB. The antenna transmission unit transmits the amplified signal to the user terminal via a dedicated underwater antenna with a gain range of 5dBi to 10dBi, supporting a communication depth range of 0 to 100m and a communication frequency of 60kHz.

[0023] The control module adjusts the working mode of the net bag based on the judgment results of the status judgment module. The control module includes a cleaning execution unit, a flow reduction execution unit, and an alarm execution unit. The cleaning execution unit activates the mechanical cleaning device connected to the net bag or sends a manual cleaning request to the user terminal when excessive garbage accumulation is detected. The mechanical cleaning device moves along the net bag frame to remove the accumulated material; its movement path is determined by the garbage distribution density detected by the sonar sensor unit. The flow reduction execution unit activates the flow baffle device connected to the net bag when the water flow velocity is detected to be too high. The flow baffle device reduces the water flow impact force by changing the direction of the net bag opening; its angle adjustment range is 0° to 90°. The alarm execution unit sends an alarm message to the user terminal when the net bag is detected to be damaged. The alarm message includes the location of the damage and the expected impact range; the damage location is determined by anomalies in the width detected by the sonar sensor unit.

[0024] like Figure 1 and 2 As shown, an underwater net-like monitoring device for installing the aforementioned intelligent morphological monitoring sonar system includes a monitoring body 1, a flexible net 2, and a deformable rope frame 3. The monitoring body 1 is a sealed shell, integrating a data acquisition module, a signal processing module, and a communication transmission module. The monitoring body 1 is installed at key nodes of the deformable rope frame 3 via a threaded connection. These key nodes include the net apex, frame intersections, and stress concentration points. The flexible net 2 is connected below the monitoring body 1 and is used to contain the object to be monitored. The deformable rope frame 3 is woven into the support structure of the flexible net 2 to form a deformable mesh (i.e., an integrated net). The deformable rope frame 3 is made of high-strength fiber material, possessing tensile and deformation resistance. The monitoring body 1 has a built-in sonar sensor unit that detects the distribution and deformation state of objects inside the net in real time by emitting and receiving sound waves.

[0025] The control module's workflow includes the triggering of control commands under three abnormal conditions: excessive waste accumulation, excessive water flow velocity, and net bag damage. When the status judgment module determines that there is excessive waste accumulation, the cleaning execution unit activates a mechanical cleaning device to move along the net bag frame to remove the accumulated material or sends a manual cleaning request to the user terminal. When the status judgment module determines that the water flow velocity is too high, the flow reduction execution unit activates a flow baffle device to reduce the water flow impact force by changing the direction of the net bag opening. When the status judgment module determines that the net bag is damaged, the alarm execution unit sends an alarm message to the user terminal, which includes the location of the damage and the expected impact range.

[0026] Furthermore, this invention also includes an adaptive adjustment module, which comprises an environmental sensing unit and an adjustment strategy unit. The environmental sensing unit acquires water depth and current velocity information of the environment in which the net is located through built-in pressure and flow velocity sensors. The pressure sensor has a measurement range of 0 to 100 m, and the flow velocity sensor has a measurement range of 0 to 5 m / s. The adjustment strategy unit adjusts the operating parameters of the sonar sensor unit according to the water depth and flow velocity information. When the water depth exceeds 50 m, the operating frequency of the sonar sensor unit is switched to 400 kHz; when the flow velocity exceeds 3 m / s, the transmission interval of the acoustic signal is shortened to half of the default interval.

[0027] The intelligent morphological monitoring sonar system and device for underwater nets provided in this invention collects morphological data and internal biological behavior data of the net through multiple sonar sensor units arranged on the net frame, and generates net morphological parameters and biomass distribution parameters in conjunction with a signal processing module. When an abnormal state of the net is detected, such as a width change exceeding a preset threshold or an attitude deviation exceeding a first preset range, corresponding control commands are triggered based on specific judgment conditions. The entire system solves the problem of the inability to monitor net morphological changes and internal biological behavior in real time in the prior art through the collaborative operation of multiple modules, providing an intelligent control method and improving the working efficiency and reliability of underwater nets.

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent morphological monitoring sonar system for underwater nets, characterized in that, include: The data acquisition module is used to collect real-time data on the morphology of the net and the behavior of the organisms inside the net through multiple sonar sensor units arranged on the net frame; The sonar sensor unit operates at a frequency of 200kHz or 400kHz, has a detection angle of 10° or 30°, and a maximum detection distance of 0.3m to 100m. The signal processing module is used to filter and extract features from the acquired data to generate net morphology parameters and biomass distribution parameters. The net morphology parameters include width variation and attitude offset, and the biomass distribution parameters include the number and density distribution of biological targets. The status judgment module is used to determine whether there is an abnormal state of the net bag based on the net bag shape parameters; the abnormal state includes net bag damage, excessive garbage accumulation, or excessive water flow speed. When the width change exceeds a preset threshold, the net is determined to be damaged; when the attitude offset exceeds the first preset range and the width change is less than the second preset range, it is determined to be excessive garbage accumulation; when the attitude offset exceeds the first preset range and the width change is greater than the second preset range, it is determined to be excessive water flow speed. The communication transmission module is used to transmit the net morphology parameters and biomass distribution parameters to the user terminal via a 60kHz communication frequency, and the communication depth range supports 0 to 100m. The control module is used to adjust the working mode of the net based on the received status judgment results; When it is determined that there is too much garbage, a cleaning command is initiated; When the water flow velocity is determined to be too high, a flow reduction command is activated. When the net is determined to be damaged, an alarm command is triggered.

2. The intelligent morphological monitoring sonar system for underwater nets according to claim 1, characterized in that, The data acquisition module specifically includes: A sonar transmitting unit is used to transmit acoustic signals into the inside and surrounding area of ​​the net; the acoustic signals alternately switch frequencies of 200kHz and 400kHz at fixed time intervals. A sonar receiving unit is used to receive reflected sound wave signals and convert the sound wave signals into electrical signals; the sensitivity range of the sonar receiving unit is -90dB to -50dB. A data storage unit is used to store the converted electrical signal as raw data; the raw data is marked according to timestamps and spatial locations.

3. The intelligent morphological monitoring sonar system for underwater nets according to claim 1, characterized in that, The signal processing module specifically includes: The filtering unit is used to perform bandpass filtering on the raw data to remove noise interference; the frequency range of the bandpass filter is 180kHz to 420kHz. The feature extraction unit is used to extract the geometric features of the net skeleton and the motion features of the biological target from the filtered data; the geometric features include the relative distance and angle changes between skeleton nodes, and the motion features include the moving speed and trajectory of the biological target; The data fusion unit is used to fuse the extracted geometric and motion features to generate comprehensive parameters; the comprehensive parameters include the overall morphological change trend of the net and the spatial distribution density of biological targets.

4. The intelligent morphological monitoring sonar system for underwater nets according to claim 1, characterized in that, It also includes an adaptive adjustment module, which specifically includes: An environmental sensing unit is used to acquire water depth and flow velocity information of the environment in which the net is located through built-in pressure and flow velocity sensors; the pressure sensor has a measurement range of 0 to 100 m, and the flow velocity sensor has a measurement range of 0 to 5 m / s. The adjustment strategy unit is used to adjust the operating parameters of the sonar sensor unit according to the water depth and flow velocity information; when the water depth exceeds 50m, the operating frequency of the sonar sensor unit is switched to 400kHz; when the flow velocity exceeds 3m / s, the transmission interval of the sound wave signal is shortened to half of the default interval.

5. The intelligent morphological monitoring sonar system for underwater nets according to claim 1, characterized in that, The control module specifically includes: The cleaning execution unit is used to activate a mechanical cleaning device connected to the net bag or send a manual cleaning message to the user terminal when it is determined that there is too much garbage accumulation; the mechanical cleaning device moves along the net bag frame to remove the accumulated material; the movement path of the mechanical cleaning device is determined by the garbage distribution density detected by the sonar sensor unit. The flow reduction unit is used to activate a flow baffle device connected to the net when the water flow velocity is determined to be too fast; the flow baffle device reduces the water flow impact force by changing the direction of the net opening; the angle adjustment range of the flow baffle device is 0° to 90°. An alarm execution unit is used to send alarm information to the user terminal when the net is determined to be damaged; the alarm information includes the location of the damage and the expected range of impact; the location of the damage is determined by anomalies in the width change detected by the sonar sensor unit.

6. The intelligent morphological monitoring sonar system for underwater nets according to claim 1, characterized in that, The communication transmission module specifically includes: The signal modulation unit is used to modulate the net morphology parameters and biomass distribution parameters using orthogonal frequency division multiplexing (OFDM) technology; the modulated signal occupies a bandwidth of 50 kHz to 70 kHz. A signal amplification unit is used to amplify the power of the modulated signal; the amplification factor is 10dB to 20dB. The antenna transmitting unit is used to transmit the amplified signal to the user terminal through a dedicated underwater antenna; the gain range of the antenna is 5dBi to 10dBi.

7. The intelligent morphological monitoring sonar system for underwater nets according to claim 1, characterized in that, In the state judgment module, the preset threshold for the width change is 10% to 20% of the normal width of the net, the first preset range for the attitude offset is 0° to 15°, and the second preset range for the width change is 5% to 10% of the normal width of the net.

8. The intelligent morphological monitoring sonar system for underwater nets according to claim 1, characterized in that, The sonar sensor units are arranged at intervals of 0.5m to 1m on the net frame, and the detection ranges of adjacent sonar sensor units at least partially overlap to ensure coverage without blind spots.

9. An underwater net monitoring device for installing the intelligent morphology monitoring sonar system as described in claim 1, characterized in that, include: Monitoring main body (1): It is a sealed shell, which integrates a data acquisition module, a signal processing module and a communication transmission module; Flexible net bag (2): connected to the bottom of the monitoring body (1) to hold the object to be monitored; Rope-like skeleton (3): woven into the support structure of the net bag (2) to form a deformable mesh; The monitoring subject (1) is installed at the key nodes of the rope frame (3) through a detachable interface. The key nodes include the top of the net, the cross point of the frame and the stress concentration point. The monitoring subject (1) is equipped with the sonar system described in claim 1, which detects the distribution and deformation of objects inside the net in real time by transmitting / receiving sound waves.

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